CN113691075B - Robot charging system and charging method for inflammable and explosive areas - Google Patents
Robot charging system and charging method for inflammable and explosive areas Download PDFInfo
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- CN113691075B CN113691075B CN202110871203.8A CN202110871203A CN113691075B CN 113691075 B CN113691075 B CN 113691075B CN 202110871203 A CN202110871203 A CN 202110871203A CN 113691075 B CN113691075 B CN 113691075B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/18—Structural association of electric generators with mechanical driving motors, e.g. with turbines
- H02K7/1807—Rotary generators
- H02K7/1846—Rotary generators structurally associated with wheels or associated parts
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0042—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries characterised by the mechanical construction
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
Abstract
The invention provides a robot charging system for flammable and explosive areas, which solves the problems that an existing mobile robot is charged in a wireless or contact mode, a wireless charging coil and a contact type charging contact pin are easy to damage, and current leakage risks exist. The system comprises an actuating mechanism and an energy conversion mechanism matched with a main walking wheel of the robot; the actuating mechanism is used for enabling a main travelling wheel of the robot to be separated from contact with the working platform; the energy conversion mechanism comprises a fixed plate vertically fixed on the working platform, a motor mounting plate parallel to the fixed plate, a guide shaft which connects the fixed plate and the motor mounting plate and has an axis parallel to the axis of the main travelling wheel, a driving mechanism which is arranged on the fixed plate and is used for driving the motor mounting plate to move along the guide shaft, and an energy butt joint unit arranged on the motor mounting plate; the energy butt joint unit comprises an energy conversion motor arranged on the motor mounting plate and a second fastener arranged on an output shaft of the energy conversion motor.
Description
Technical Field
The invention relates to a robot charging technology, in particular to a robot charging system and a charging method for an inflammable and explosive area.
Background
With the rapid development of the robot industry, robots have been gradually popularized and applied to various industries. At present, mobile robot charges and adopts wireless charging or contact to charge more for wireless charging coil, the contact pin etc. that charge are in the state of exposing, and in some special areas, wireless charging coil, contact charging pin are impaired easily and have current leakage's risk, and then cause the incident.
Disclosure of Invention
The invention provides a robot charging system and a charging method for an inflammable and explosive area, and aims to solve the technical problems that an existing mobile robot is charged in a wireless or contact mode, a wireless charging coil and a contact type charging contact pin are easy to damage, current leakage risks exist, and safety accidents are further caused.
In order to realize the purpose, the technical scheme provided by the invention is as follows:
the utility model provides a charging system of robot for inflammable and explosive region, the robot is including setting up walking unit on work platform, being located work platform top and setting up equipment storehouse on walking unit, setting rechargeable battery in the equipment storehouse, the walking unit is including the main walking wheel that can walk on work platform and follow the walking wheel to and set up in the equipment storehouse and drive main walking wheel pivoted walking motor, the walking motor links to each other with rechargeable battery, and its special character lies in:
the energy conversion mechanism is positioned on the outer side of the robot and is used for being matched with a main walking wheel of the robot;
the actuating mechanism is arranged on a working platform for the robot to walk and is used for separating the main walking wheel from the working platform;
the energy conversion mechanism is arranged on a working platform for the robot to walk and is used for clamping a main walking wheel of the robot and driving the main walking wheel to rotate.
Furthermore, the energy conversion mechanism comprises a fixed plate which is vertically fixed on the working platform and is positioned at the outer side of the actuating mechanism (main travelling wheel), a motor mounting plate which is parallel to the fixed plate and is close to the actuating mechanism, a guide shaft which is connected with the fixed plate and the motor mounting plate and has an axis parallel to the axis of the main travelling wheel, a driving mechanism which is arranged on the fixed plate and is used for driving the motor mounting plate to move along the guide shaft, and an energy butt joint unit which is arranged on the motor mounting plate;
the energy butt joint unit comprises an energy conversion motor arranged on the motor mounting plate and a second buckling piece arranged on an output shaft of the energy conversion motor, and the second buckling piece is used for being buckled with a first buckling piece on a rotating shaft of the main travelling wheel after the main travelling wheel is separated from the working platform, so that the main travelling wheel can synchronously rotate along with the output shaft of the energy conversion motor.
Furthermore, the first buckle part is a rotating shaft, the outer side wall of the first buckle part is provided with a plurality of convex blocks which are uniformly distributed along the circumference along the axial direction, the second buckle part is a rotating shaft sleeve, and the inner wall of the second buckle part is provided with a plurality of grooves which are matched with the convex blocks;
or the first buckling piece is a rotating shaft, the radial section of the first buckling piece is a polygon, the second buckling piece is a rotating shaft sleeve, and the inner surface of the second buckling piece is matched with the outer surface of the rotating shaft;
or the first buckle part is a first rotary buckle disc, the outer end surface of the first buckle part is provided with a plurality of first teeth which are circumferentially arranged along the radial direction, the second buckle part is a second rotary buckle disc, and the end surface of the second buckle part is provided with a plurality of second teeth which are matched with the first teeth;
or the first buckling part is a conical rotating shaft, a first tooth-shaped structure is arranged on the outer conical surface of the first buckling part, the second buckling part is a conical rotating sleeve matched with the conical rotating shaft, and a second tooth-shaped structure matched with the first tooth-shaped structure is arranged on the inner conical surface of the second buckling part.
Further, the energy docking unit further comprises a driving shaft, a spring and a retainer ring;
one end of the driving shaft is coaxially and fixedly connected with an output shaft of the energy conversion motor, a first annular limiting boss is arranged on the outer wall of the end part of the driving shaft, and a second annular boss is arranged on the outer wall of the other end of the driving shaft;
the spring and the check ring are sleeved in the middle of the driving shaft, two ends of the spring are limited by the first annular limiting boss and the check ring respectively, and the check ring abuts against the second annular boss;
the second buckle piece is sleeved on the driving shaft in a spline connection mode and is fixedly connected with the check ring.
Further, a linear bearing matched with the guide shaft is installed on the fixing plate, but the fixing plate is not limited to a form of the linear bearing and the guide shaft.
Furthermore, the driving mechanism is an electric cylinder and comprises a cylinder body and a first electric push rod, the cylinder body is arranged on the fixed plate, and the driving end of the first electric push rod is fixedly connected with the motor mounting plate;
or, actuating mechanism is the cylinder, and it includes cylinder body and catch bar, and the cylinder body setting is on the fixed plate, and the drive end of catch bar links firmly with the motor mounting panel, and actuating mechanism also can adopt other straight line actuating mechanism such as hydro-cylinder.
Furthermore, the actuating mechanism comprises a second electric push rod arranged on the working platform and a supporting plate which is arranged on the lower bottom surface of the robot and matched with the driving end of the second electric push rod, and the main travelling wheel of the robot can be separated from the ground due to the rising of the second electric push rod.
Furthermore, the working platform comprises a bottom plate, a charging stopping platform arranged on the bottom plate and used for supporting the lower bottom surface of the robot, and lifting platforms positioned on two sides of the charging stopping platform and used for being matched with the main travelling wheels of the robot;
the actuating mechanism comprises a second electric push rod arranged on the bottom plate, and the driving end of the second electric push rod is fixedly connected with the lifting platform.
Meanwhile, the invention also provides a robot charging method for flammable and explosive areas, which is characterized by comprising the following steps:
1) The robot runs above the actuating mechanism on the working platform, and stops running after the robot arrives at the position;
2) The actuating mechanism enables the main walking wheel of the robot to be separated from the working platform;
3) The energy conversion mechanism is clamped with the main travelling wheel;
4) The energy conversion mechanism drives the main walking wheel to rotate, so that the walking motor connected with the main walking wheel rotates to generate electricity, and the electric energy is stored in a rechargeable battery of the robot, thereby completing the charging of the robot.
Further, the step 3) is specifically as follows: a driving mechanism of the energy conversion mechanism drives the motor mounting plate to move towards the main travelling wheel, so that a second clamping piece of the energy butt joint unit is clamped with a first clamping piece on a rotating shaft of the main travelling wheel;
the step 4) is specifically as follows: and the energy conversion motor of the energy docking unit drives the main travelling wheel to rotate, so that the travelling motor connected with the main travelling wheel rotates to generate electricity, and the electricity is stored in a rechargeable battery of the robot to finish the charging of the robot.
Compared with the prior art, the invention has the advantages that:
1. when the robot works, the actuating mechanism and the energy conversion mechanism cannot influence the normal work of the robot; when the robot needs to be charged, the robot moves to the upper side of the actuating mechanism, the travelling wheels are separated from the working platform by a certain distance through the actuating mechanism, then the second clamping piece of the energy conversion mechanism is mutually clamped with the first clamping piece on the main travelling wheel of the robot, the main travelling wheel is driven to rotate through the energy conversion mechanism, the travelling motor is further driven to rotate to generate electricity, the kinetic energy of the energy conversion mechanism is transmitted to the travelling motor of the robot, and finally, the electric energy is stored in the rechargeable battery, so that the robot is charged. Therefore, when the robot needs to be charged, only the mechanical connection between the energy conversion mechanism and the main travelling wheel (the clamping connection between the first clamping piece and the second clamping piece) needs to be realized, the robot generates electric energy through the rotation (mechanical energy) of the main travelling wheel during charging, the explosion-proof charging of the robot is realized, the risk that the existing wireless charging coil and the existing contact type charging contact pin are damaged and leak is avoided, and the charging safety is improved.
2. The robot can be automatically charged in an energy conversion mode, the power source of the energy conversion motor can be a motor, an oil cylinder, compressed air, hydraulic pressure, manpower and the like, the realization mode is simple, the safety is high, and the charging safety of a special area is improved.
3. The second buckling part and the first buckling part can be coaxially connected through the matching of the groove and the bump (or tooth matching or polygonal surface type matching or conical surface and toothed structure matching), and the connection mode is simple and convenient.
4. A driving shaft, a spring and a retainer ring are arranged between an output shaft of the energy conversion motor and the second buckling piece, when a groove (or a latch on the end face) on the second buckling piece is not aligned with a convex block (a latch on the end face) on the first buckling piece, the driving shaft is in floating connection with the second buckling piece, and finally the second buckling piece and the first buckling piece are clamped coaxially.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of a robot charging system for flammable and explosive areas according to the present invention;
FIG. 2 is a schematic view of the structure of FIG. 1 in another direction;
FIG. 3 is a schematic structural diagram of a second embodiment of the robot charging system for flammable and explosive areas according to the present invention;
FIG. 4 is a schematic view of the structure of FIG. 3 in another direction;
fig. 5 is a partial schematic view of an energy docking unit in the first embodiment and the second embodiment of the robot charging system for flammable and explosive areas according to the present invention;
FIG. 6a is a schematic structural diagram of a rotating shaft in the third embodiment of the robot charging system for flammable and explosive areas according to the present invention;
FIG. 6b is a schematic structural diagram of a rotating shaft sleeve in the third embodiment of the robot charging system for flammable and explosive areas according to the present invention;
fig. 7a is a schematic structural diagram of a first rotary buckle disc in a fourth embodiment of the robot charging system for flammable and explosive areas according to the present invention;
fig. 7b is a schematic structural diagram of a second rotary buckle disc in the fourth embodiment of the robot charging system for flammable and explosive areas according to the present invention;
FIG. 8a is a schematic structural diagram of a conical rotating shaft in a fifth embodiment of the robot charging system for flammable and explosive areas according to the present invention;
FIG. 8b is a schematic structural diagram of a conical rotary sleeve in the fifth embodiment of the charging system for robots in flammable and explosive areas according to the present invention;
FIG. 9 is a schematic structural diagram of a work platform in a sixth embodiment of the robot charging system for flammable and explosive areas according to the present invention;
wherein the reference numbers are as follows:
11-a working platform, 111-a bottom plate, 112-a charging and stopping platform, 113-a lifting platform, 12-a wheeled robot, 13-a tracked robot, 14-a wheeled equipment bin, 15-a rechargeable battery, 16-a main travelling wheel, 161-a first fastener, 1611-a first latch, 17-a slave travelling wheel, 18-a travelling motor, 19-a tracked equipment bin and 20-a track;
2-actuating mechanism, 21-second electric push rod, 23-supporting plate;
31-a fixed plate, 32-a motor mounting plate, 33-a guide shaft, 34-a driving mechanism, 341-a cylinder body, 342-a first electric push rod, 351-an energy conversion motor, 3511-an output shaft, 352-a second buckle, 3521-a second latch, 353-a driving shaft, 3531-a first annular limiting boss, 3532-a second annular boss, 3533-a blind hole, 354-a spring, 355-a retainer ring and 38-a linear bearing.
Detailed Description
The invention is described in further detail below with reference to the figures and specific embodiments.
Example one
As shown in fig. 1 and fig. 2, in this embodiment, a wheeled robot 12 is taken as an example, the wheeled robot 12 includes a walking unit disposed on a working platform 11, a wheeled equipment bin 14 located above the working platform 11 and disposed on the walking unit, and a rechargeable battery 15 disposed in the wheeled equipment bin 14, the walking unit includes 4 walking wheels capable of walking on the working platform 11 and a walking motor 18 disposed in the wheeled equipment bin 14, of the 4 walking wheels in this embodiment, 2 coaxial walking wheels 16 are located on the front side, and the remaining 2 walking wheels 17 are slave walking wheels, so that the walking motors 18 are 2, and respectively drive the 2 main walking wheels 16 to rotate, and the 2 walking motors 18 are all connected with the rechargeable battery 15.
The charging system for the wheeled robot in the explosion-proof area comprises an actuating mechanism 2, a stopping mechanism and an energy conversion mechanism which is positioned at two outer sides of the actuating mechanism 2 and is used for being matched with a main travelling wheel 16 of the wheeled robot 12.
The actuating mechanism 2 is arranged on a working platform 11 on which the wheeled robot 12 walks and is used for supporting the wheeled robot 12 so as to separate a main walking wheel 16 from the working platform 11; the actuating mechanism 2 of the embodiment comprises a second electric push rod 21 arranged on the working platform 11 and a supporting plate 23 which is arranged on the lower bottom surface of the wheel type equipment bin 14 and matched with the driving end of the second electric push rod 21; the supporting plate 23 can be positioned at one side of the wheeled equipment bin 14 connected with the 2 main traveling wheels 16, and the second electric push rod 21 only supports the wheeled equipment bin 14 at one side of the 2 main traveling wheels 16; the supporting plate 23 can also be positioned in the middle of the wheeled equipment bin 14, and the second electric push rod 21 can wholly support the wheeled robot 12;
the number of the energy conversion mechanisms is equal to the number of the main travelling wheels 16, the energy conversion mechanisms are arranged on a working platform 11 where the robot travels and used for clamping the main travelling wheels 16 of the robot and driving the main travelling wheels 16 to rotate, the number of the energy conversion mechanisms is 2 in the embodiment, the energy conversion mechanisms are respectively positioned at two sides of the actuating mechanism 2 and are oppositely arranged, each energy conversion mechanism comprises a fixing plate 31 which is vertically fixed on the working platform 11 and positioned at the outer side of the main travelling wheels 16, a motor mounting plate 32 which is parallel to the fixing plate 31 and close to the actuating mechanism 2, a guide shaft 33 which connects the fixing plate 31 and the motor mounting plate 32 and has an axis parallel to the axis of the main travelling wheels 16, a driving mechanism 34 which is arranged on the fixing plate 31 and used for driving the motor mounting plate 32 to move along the guide shaft 33, and an energy butt joint unit which is arranged on the motor mounting plate 32; a linear bearing 38 matched with the guide shaft 33 is arranged on the fixing plate 31; the energy docking unit comprises an energy conversion motor 351 arranged on the motor mounting plate 32 and a second buckle piece 352 arranged on an output shaft 3511 of the energy conversion motor 351, the second buckle piece 352 is used for being clamped with a first buckle piece 161 on a rotating shaft of the main travelling wheel 16 after the main travelling wheel 16 is separated from contact with the working platform 11, the first buckle piece 161 and the second buckle piece 352 need to be clamped, so that the main travelling wheel 16 can synchronously rotate along with the output shaft 3511 of the energy conversion motor 351, the second buckle piece 352 is a rotating shaft sleeve in the embodiment, a plurality of grooves are formed in the inner wall of the second buckle piece 352 in the axial direction, the first buckle piece 161 is a rotating shaft, and a plurality of convex blocks matched with the grooves are arranged on the outer surface of the first buckle piece 161.
As shown in fig. 5, the power docking unit of the present embodiment further includes a drive shaft 353, a spring 354 and a retainer ring 355 located inside the motor mounting plate 32; a blind hole 3533 is formed in the center of the outer end of the driving shaft 353, an output shaft 3511 of the energy conversion motor 351 is arranged in the blind hole 3533, coaxial and fixed connection of the driving shaft 353 and the output shaft 3511 of the energy conversion motor 351 is achieved, a first annular limiting boss 3531 is arranged at the outer end of the driving shaft 353, and a second annular boss 3532 is arranged at the inner end of the driving shaft 353; the spring 354 and the retainer ring 355 are sleeved in the middle of the driving shaft 353, two ends of the spring 354 are respectively limited by the first annular limiting boss 3531 and the retainer ring 355, and the retainer ring 355 abuts against the second annular boss 3532; the outer end of the second fastener 352 is sleeved on the driving shaft 353 in a spline connection manner and is fixedly connected with the retainer ring 355.
When the driving mechanism 34 drives the motor mounting plate 32 (energy docking unit) to move towards the wheeled robot 12, when the groove of the rotating shaft sleeve is aligned with the projection of the rotating shaft, the rotating shaft is arranged in the rotating shaft sleeve along with the forward movement of the motor mounting plate 32, so that the connection between the rotating shaft sleeve and the rotating shaft is realized, namely the coaxial connection between the output shaft 3511 of the energy conversion motor 351 and the main traveling wheel 16 is realized; when the groove of the rotating shaft sleeve is not aligned with the lug of the rotating shaft, the end face of the rotating shaft abuts against the end face of the rotating shaft sleeve along with the forward movement of the motor mounting plate 32, the output shaft 3511 of the energy conversion motor 351 moves towards one side of the wheeled robot 12 relative to the rotating shaft sleeve, the spring 354 is compressed until the output shaft 3511 of the energy conversion motor 351 is contacted with the rotating shaft, under the micro-rotation of the energy conversion motor 351, the groove on the rotating shaft sleeve is rotated, the lug of the rotating shaft is aligned with the groove of the rotating shaft sleeve, the rotating shaft sleeve moves forward, the rotating shaft is installed in the rotating shaft sleeve, the connection between the rotating shaft sleeve and the rotating shaft is realized, and the coaxial connection between the output shaft 3511 of the energy conversion motor and the traveling wheel is realized.
The stopping mechanism can be an inductive sensor, and the inductive sensor stops the wheeled robot 4 after detecting that the wheeled robot 12 reaches the charging level; the gear stop mechanism also comprises an action electric cylinder arranged on the working platform, a gear stop positioning plate arranged at the upper end (driving end) of the action electric cylinder and a gear stop guide shaft for providing a guide effect for the movement of the gear stop positioning plate, wherein the action electric cylinder drives the gear stop positioning plate to extend out to block the wheeled robot, so that the wheeled robot is stopped in place.
The driving mechanism 34 of this embodiment may also be an electric cylinder, and includes a cylinder 341 and a first electric push rod 342 engaged with the cylinder 341, the cylinder 341 is disposed on the fixed plate 31, and a driving end of the first electric push rod 342 is fixedly connected to the motor mounting plate 32; in other embodiments, the driving mechanism 34 is an air cylinder, which includes a cylinder body 341 and a push rod engaged with the cylinder body 341, the cylinder body 341 is disposed on the fixing plate 31, and a driving end of the push rod is fixedly connected to the motor mounting plate 32.
The working process of the charging system of the wheeled robot 12 for the explosion-proof area of the embodiment is as follows:
1) The wheeled robot 12 automatically walks on the working platform 11 (the working platform 11 of the wheeled robot 12 is the ground), when the electric quantity of the rechargeable battery 15 of the wheeled robot 12 is lower than a set value, the wheeled robot 12 automatically moves to a charging position (above the actuating mechanism 2) and stops, and the driving power supply is cut off; the stopping mechanism performs upward stopping to realize accurate positioning of the wheeled robot 12;
2) Starting the actuating mechanism 2, extending a second electric push rod 21 of the actuating mechanism 2, and driving a supporting plate 23 by the second electric push rod 21 to support the whole wheeled robot 12 so as to separate the main travelling wheel 16 of the wheeled robot 12 from the ground;
3) Starting driving mechanisms 34 of 2 energy conversion mechanisms, wherein each driving mechanism 34 drives a motor mounting plate 32 to move close to the wheeled robot 12 along a guide shaft 33 in the horizontal direction, the energy conversion mechanisms on the motor mounting plates 32 synchronously move towards the main travelling wheels 16 of the wheeled robot 12, and until the rotating shaft sleeves of output shafts 3511 of 2 energy conversion motors 351 are respectively clamped into rotating shafts of the 2 main travelling wheels 16 of the wheeled robot 12;
4) The external power source drives the 2 energy conversion motors 351 to rotate respectively, so that the rotation of the rotating shaft sleeves on the output shafts 3511 of the energy conversion motors 351 is realized, the 2 main traveling wheels 16 are driven to rotate respectively, each main traveling wheel 16 drives the corresponding traveling motor 18 to rotate, the kinetic energy of the energy conversion motors 351 is transmitted to the 2 traveling motors 18 of the wheeled robot 12, the 2 traveling motors 18 rotate to generate electricity to generate current, and the generated current is stored to the rechargeable battery 15 through a circuit in the wheeled equipment bin 14, so that the charging of the wheeled robot 12 is completed.
After the charging is completed, each driving mechanism 34 drives the motor mounting plate 32 to move outwards along the guide column, so that the rotating shaft sleeve of the output shaft 3511 of the energy conversion motor 351 is separated from the rotating shaft of the main walking wheel 16, then the second electric push rod 21 of the actuating mechanism 2 retracts, the wheeled robot 12 falls to the working platform 11, and the walking wheels can walk on the working platform 11.
Example two
As shown in fig. 3 and 4, in this embodiment, a tracked robot 13 is taken as an example, the tracked robot 13 includes a walking unit disposed on a working platform 11, a tracked equipment bin 19 located above the working platform 11 and disposed on the walking unit, and a rechargeable battery 15 disposed in the tracked equipment bin 19, the walking unit includes 4 walking wheels disposed on the working platform 11, a crawler 20 connected to 2 walking wheels on the same side, and a walking motor 18 disposed in the tracked equipment bin 19, where the 4 walking wheels are main walking wheels 16 in this embodiment, the walking motors 18 are 4, and respectively drive the 4 main walking wheels 16 to rotate, and the 4 walking motors 18 are connected to the rechargeable battery 15.
The charging system for the tracked robot 13 in the explosion-proof area comprises an actuating mechanism 2, a stopping mechanism and 4 energy conversion mechanisms which are positioned at two outer sides of the actuating mechanism 2 and are used for being matched with 4 main travelling wheels 16 of the tracked robot 13.
The actuating mechanism 2 is arranged on a working platform 11 on which the crawler 20 robot walks and is used for lifting the crawler robot 13 to enable the main walking wheels 16 to be separated from the working platform 11; the actuating mechanism 2 of the embodiment comprises a second electric push rod 21 arranged on the working platform 11 and a supporting plate 23 which is arranged on the lower bottom surface of the crawler-type equipment bin 19 and matched with the driving end of the second electric push rod 21; the supporting plate 23 is positioned in the middle of the crawler-type equipment bin 19, and the second electric push rod 21 supports the whole crawler-type robot 13;
the number of the energy conversion mechanisms is equal to the number of the main traveling wheels 16, the number of the energy conversion mechanisms in the embodiment is 4, the energy conversion mechanisms are respectively positioned at two sides of the actuating mechanism 2 and are arranged in a pairwise opposite manner, each energy conversion mechanism comprises a fixing plate 31 which is vertically fixed on the working platform 11 and positioned at the outer side of the main traveling wheels 16, a motor mounting plate 32 which is parallel to the fixing plate 31 and close to the actuating mechanism 2, a guide shaft 33 which is connected with the fixing plate 31 and the motor mounting plate 32 and has an axis parallel to the axis of the main traveling wheels 16, a driving mechanism 34 which is arranged on the fixing plate 31 and is used for driving the motor mounting plate 32 to move along the guide shaft 33, and an energy butt joint unit which is arranged on the motor mounting plate 32; a linear bearing 38 matched with the guide shaft 33 is arranged on the fixing plate 31; the energy docking unit comprises an energy conversion motor 351 arranged on the motor mounting plate 32 and a second buckle piece 352 arranged on an output shaft 3511 of the energy conversion motor 351, the second buckle piece 352 is used for being clamped with a first buckle piece 161 on a rotating shaft of the main travelling wheel 16 after the main travelling wheel 16 is separated from contact with the working platform 11, the first buckle piece 161 and the second buckle piece 352 need to be clamped, so that the main travelling wheel 16 can synchronously rotate along with the output shaft 3511 of the energy conversion motor 351, the second buckle piece 352 is a rotating shaft sleeve in the embodiment, a plurality of grooves are formed in the inner wall of the second buckle piece 352 in the axial direction, the first buckle piece 161 is a rotating shaft, and a plurality of convex blocks matched with the grooves are arranged on the outer surface of the first buckle piece 161.
The energy docking unit of this embodiment further comprises a drive shaft 353, a spring 354 and a retainer ring 355 located inside the motor mounting plate 32; a blind hole 3533 is formed in the center of the outer end of the driving shaft 353, an output shaft 3511 of the energy conversion motor 351 is arranged in the blind hole 3533, the driving shaft 353 and the output shaft 3511 of the energy conversion motor 351 are coaxially and fixedly connected, a first annular limiting boss 3531 is arranged at the outer end of the driving shaft 353, and a second annular boss 3532 is arranged at the inner end of the driving shaft 353; the spring 354 and the retainer ring 355 are sleeved in the middle of the driving shaft 353, two ends of the spring 354 are respectively limited by the first annular limiting boss 3531 and the retainer ring 355, and the retainer ring 355 abuts against the second annular boss 3532; the outer end of the second latch 352 is fixedly sleeved on the driving shaft 353 and fixedly connected with the retainer ring 355.
When the groove of the rotary shaft sleeve is aligned with the lug of the rotary shaft when the driving mechanism 34 drives the motor mounting plate 32 (energy butt joint unit) to move towards the robot close to the crawler 20, the rotary shaft sleeve is arranged in the rotary shaft sleeve along with the forward movement of the motor mounting plate 32, so that the connection of the rotary shaft sleeve and the rotary shaft is realized, namely the coaxial connection of the output shaft 3511 of the energy conversion motor 351 and the main travelling wheel 16 is realized; when the recess of rotatory axle sleeve is not right with the lug of rotation axis, along with the forward movement of motor mounting panel 32, the terminal surface of rotation axis and the terminal surface of rotatory axle sleeve support and lean on, energy conversion motor 351 output shaft 3511 moves to crawler-type robot 13 one side relative to the rotatory axle sleeve, spring 354 is compressed, until energy conversion motor 351 output shaft 3511 and rotation axis contact, under energy conversion motor 351 micro-rotation, make the recess on the rotatory axle sleeve rotate, and then make the lug of rotation axis align with the recess of rotatory axle sleeve, the rotatory axle sleeve moves forward, the rotation axis is packed into in the rotation axis sleeve, realize the connection of rotatory axle sleeve and rotation axis, can be the coaxial coupling of energy conversion motor output shaft 3511 and walking wheel.
The gear stopping mechanism can be an inductive sensor, and the inductive sensor stops the tracked robot 13 after detecting that the tracked robot 13 reaches a charging potential; the stop mechanism can also comprise an action electric cylinder arranged on the working platform, a stop positioning plate arranged at the upper end (driving end) of the action electric cylinder and a stop guide shaft for providing a guide effect for the stop positioning plate to move, the action electric cylinder drives the stop positioning plate to extend out, the tracked robot 13 is stopped, and the wheeled robot is stopped in place.
The driving mechanism 34 of this embodiment is an air cylinder, and includes a cylinder body 341 and a push rod matched with the cylinder body 341, the cylinder body 341 is disposed on the fixing plate 31, and a driving end of the push rod is fixedly connected with the motor mounting plate 32; in other embodiments, the driving mechanism 34 may also be an electric cylinder, which includes a cylinder 341 and a first electric push rod 342 engaged with the cylinder 341, the cylinder 341 is disposed on the fixing plate 31, and a driving end of the first electric push rod 342 is fixedly connected to the motor mounting plate 32.
The working process of the charging system of the tracked robot 13 for the explosion-proof area comprises the following steps:
1) The crawler-type robot 13 automatically walks on the working platform 11 (the working platform 11 of the crawler-type robot 13 is the ground), when the electric quantity of the rechargeable battery 15 of the crawler-type robot 13 is lower than a set value, the crawler-type robot 13 automatically moves to a charging position (above the actuating mechanism 2) and stops, and a driving power supply is cut off; the stopping mechanism performs upward stopping to realize accurate positioning of the tracked robot 13;
2) Starting the actuating mechanism 2, extending a second electric push rod 21 of the actuating mechanism 2, and driving a supporting plate 23 by the second electric push rod 21 to integrally support the tracked robot 13 so as to separate the main travelling wheel 16 of the tracked robot 13 from the ground;
3) Starting driving mechanisms 34 of 4 energy conversion mechanisms, wherein each driving mechanism 34 drives a motor mounting plate 32 to move close to the tracked robot 13 along a guide shaft 33 in the horizontal direction, and the energy conversion mechanisms on the motor mounting plates 32 synchronously move towards the main travelling wheels 16 of the tracked robot 13 until rotating shaft sleeves of an output shaft 3511 of an energy conversion motor 351 are clamped into rotating shafts of the main travelling wheels 16, namely, the 4 rotating shaft sleeves of the 4 energy conversion mechanisms are clamped with the rotating shafts of the 4 main travelling wheels 16 of the tracked robot 13;
4) An external power source drives the 4 energy conversion motors 351 to rotate respectively, so that the rotation of a rotating shaft sleeve on an output shaft 3511 of the energy conversion motors 351 is realized, the 4 main traveling wheels 16 are driven to rotate respectively, each main traveling wheel 16 drives the corresponding traveling motor 18 to rotate, the kinetic energy of the energy conversion motors 351 is transmitted to the 4 traveling motors 18 of the crawler-type robot 13, the 4 traveling motors 18 rotate to generate electricity to generate current, and the generated current is stored to the rechargeable battery 15 through a circuit in the crawler-type equipment bin 19, so that the charging of the crawler-type robot 13 is completed.
After charging, each driving mechanism 34 drives the motor mounting plate 32 to move outwards along the guide column, so that the rotating shaft sleeve of the output shaft 3511 of the energy conversion motor 351 is disengaged from the rotating shaft of the main traveling wheel 16, then the second electric push rod 21 of the actuating mechanism 2 retracts, the tracked robot 13 falls to the working platform 11, and the traveling wheels can travel on the working platform 11.
EXAMPLE III
The difference from the first and second embodiments is that: as shown in fig. 6a and 6b, the first latch 161 of the present embodiment is a rotating shaft, and the radial cross section thereof is polygonal, and correspondingly, the second latch 352 is a rotating sleeve, and the inner surface thereof is matched with the outer surface of the rotating shaft.
Example four
The difference from the first and second embodiments is that: as shown in fig. 7a and 7b, the first latch 161 is a first rotating latch disc, the upper end surface of which is provided with a plurality of circumferentially arranged first latches 1611, and the second latch 352 is a second rotating latch disc, the lower end surface of which is provided with a plurality of second latches 3521 engaged with the first latches 1611.
EXAMPLE five
The difference from the first and second embodiments is that: as shown in fig. 8a and 8b, the first locking member 161 is a conical rotating shaft, an outer conical surface of which is provided with a first tooth-shaped structure, the second locking member 352 is a conical rotating sleeve, an inner conical surface of which is provided with a second tooth-shaped structure matching with the first tooth-shaped structure, and an inner conical surface of the conical rotating sleeve is adapted to an outer conical surface of the conical rotating shaft.
EXAMPLE six
The difference from the first embodiment is that: as shown in fig. 9, the working platform 11 includes a bottom plate 111, a charging stopping platform disposed on the bottom plate 111, and 2 lifting platforms 113 respectively located at two sides of the charging stopping platform 112, the charging stopping platform 112 is used for supporting the lower bottom surface of the robot, and the lifting platforms 113 are used for cooperating with the main traveling wheels 16 of the robot;
the actuating mechanism 2 comprises a second electric push rod 21 arranged on the bottom plate 111, the second electric push rod 21 is positioned below the lifting platform 113, the fixed end of the second electric push rod 21 is fixedly connected with the bottom plate 111, the driving end of the second electric push rod 21 is fixedly connected with the lifting platform 113, and the actuating mechanism 2 is used for driving the lifting platform 113 to move up and down;
the process of the contact between the walking wheels of the wheeled robot 12 and the working platform 11: when the wheeled robot 12 needs to be charged, the wheeled robot 12 moves to the working platform 11, the lower bottom surface of the wheeled robot 12 is supported on the charging stopping platform 112, the traveling wheels of the wheeled robot 12 are supported on the 2 lifting platforms 113, and then the second electric push rod 21 drives the 2 lifting platforms 113 to descend, so that the traveling wheels are separated from the lifting platforms 113.
The above description is only for the purpose of describing preferred embodiments of the present invention and is not intended to limit the technical solutions of the present invention, and any modifications made by those skilled in the art based on the main technical idea of the present invention are within the technical scope of the present invention.
Claims (7)
1. A robot charging system for flammable and explosive areas is characterized in that:
comprises an actuating mechanism (2) and an energy conversion mechanism which is used for being matched with a main walking wheel (16) of the robot;
the actuating mechanism (2) is used for enabling a main travelling wheel (16) of the robot to be separated from contact with the working platform (11);
the energy conversion mechanism is arranged on a working platform (11) where the robot walks, and comprises a fixing plate (31) which is vertically fixed on the working platform (11) and is positioned on the outer side of the actuating mechanism (2), a motor mounting plate (32) which is parallel to the fixing plate (31) and is close to the actuating mechanism (2), a guide shaft (33) which is used for connecting the fixing plate (31) and the motor mounting plate (32), a driving mechanism (34) which is arranged on the fixing plate (31) and is used for driving the motor mounting plate (32) to move along the guide shaft (33), and an energy butt joint unit which is arranged on the motor mounting plate (32);
the energy butt joint unit comprises an energy conversion motor (351) arranged on a motor mounting plate (32), a second buckle piece (352) arranged on an output shaft (3511) of the energy conversion motor (351), a driving shaft (353), a spring (354) and a retainer ring (355), wherein the second buckle piece (352) is used for being clamped with a first buckle piece (161) on a rotating shaft of the main travelling wheel (16) after the main travelling wheel (16) is separated from and contacted with the working platform (11), so that the main travelling wheel (16) can synchronously rotate along with the output shaft (3511) of the energy conversion motor (351); one end of the driving shaft (353) is coaxially and fixedly connected with an output shaft (3511) of the energy conversion motor (351), a first annular limiting boss (3531) is arranged on the outer wall of the end of the driving shaft, and a second annular boss (3532) is arranged on the outer wall of the other end of the driving shaft; the spring (354) and the retainer ring (355) are sleeved in the middle of the driving shaft (353), two ends of the spring (354) are respectively limited by the first annular limiting boss (3531) and the retainer ring (355), and the retainer ring (355) abuts against the second annular boss (3532); the second buckle piece (352) is sleeved on the driving shaft (353) in a spline connection mode and is fixedly connected with the retainer ring (355);
the working platform (11) comprises a bottom plate (111), a charging stopping platform (112) arranged on the bottom plate (111) and used for supporting the lower bottom surface of the robot, and lifting platforms (113) which are located on two sides of the charging stopping platform (112) and used for being matched with the main travelling wheels (16) of the robot;
the actuating mechanism (2) is a second electric push rod (21) arranged on the bottom plate (111), and the driving end of the second electric push rod (21) is fixedly connected with the lifting platform (113).
2. The robotic charging system for flammable and explosive areas according to claim 1, wherein: the first buckling piece (161) is a rotating shaft, a plurality of bumps are uniformly distributed on the outer side wall of the rotating shaft along the axial direction, the second buckling piece (352) is a rotating shaft sleeve, and a plurality of grooves matched with the bumps are formed in the inner wall of the rotating shaft sleeve;
or the first buckling piece (161) is a rotating shaft, the radial section of the first buckling piece is a polygon, the second buckling piece (352) is a rotating shaft sleeve, and the inner surface of the second buckling piece is matched with the outer surface of the rotating shaft;
or, the first buckle element (161) is a first rotary buckle disc, the outer end surface of the first buckle element is provided with a plurality of first clamping teeth (1611) which are circumferentially arranged along the radial direction, the second buckle element (352) is a second rotary buckle disc, and the end surface of the second buckle element is provided with a plurality of second clamping teeth (3521) which are matched with the first clamping teeth (1611);
or the first buckling part (161) is a conical rotating shaft, the outer conical surface of the first buckling part is provided with a first tooth-shaped structure, the second buckling part (352) is a conical rotating sleeve, and the inner conical surface of the second buckling part is provided with a second tooth-shaped structure matched with the first tooth-shaped structure.
3. The robotic charging system for flammable and explosive areas according to claim 2, wherein: and a linear bearing (38) matched with the guide shaft (33) is arranged on the fixed plate (31).
4. A robotic charging system for flammable and combustible areas according to any of claims 1 to 3, wherein: the driving mechanism (34) is an electric cylinder and comprises a cylinder body (341) and a first electric push rod (342), the cylinder body (341) is arranged on the fixing plate (31), and the driving end of the first electric push rod (342) is fixedly connected with the motor mounting plate (32);
or the driving mechanism (34) is an air cylinder and comprises a cylinder body and a push rod, the cylinder body is arranged on the fixing plate, and the driving end of the push rod is fixedly connected with the motor mounting plate.
5. The robotic charging system for flammable and explosive areas according to claim 4, wherein: the actuating mechanism (2) comprises a second electric push rod (21) arranged on the working platform (11) and a supporting plate (23) which is used for being installed on the lower bottom surface of the robot and matched with the second electric push rod (21).
6. A robot charging method for flammable and explosive areas, which is based on the robot charging system for flammable and explosive areas according to any one of claims 1 to 5, and is characterized by comprising the following steps:
1) The robot runs above the actuating mechanism (2) on the working platform (11), and stops running after reaching the position;
2) The actuating mechanism (2) enables the main walking wheel (16) of the robot to be separated from the contact with the working platform (11);
3) The energy conversion mechanism is clamped with the main travelling wheel (16);
4) The energy conversion mechanism drives the main travelling wheel (16) to rotate, so that a travelling motor (18) connected with the main travelling wheel (16) rotates to generate electricity, and the electricity is stored in a rechargeable battery (15) of the robot, thereby completing the charging of the robot.
7. The method of charging a robot for flammable and explosive areas according to claim 6, wherein:
the step 3) is specifically as follows: a driving mechanism (34) of the energy conversion mechanism drives a motor mounting plate (32) to move towards the main travelling wheel (16), so that a second buckle piece (352) of the energy butt joint unit is clamped with a first buckle piece (161) on a rotating shaft of the main travelling wheel (16);
the step 4) is specifically as follows: an energy conversion motor (351) of the energy docking unit drives a main travelling wheel (16) to rotate, so that a travelling motor (18) connected with the main travelling wheel (16) rotates to generate electricity, and the electricity is stored in a rechargeable battery (15) of the robot, thereby completing the charging of the robot.
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